Precision Reduction Gear RV TM. Precision Gearhead. RD2 Series

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1 Precision Reduction Gear RV TM Precision Gearhead RD Series

2 Nabtesco's technologies supporting society Contributing to Society with Our Moving it. Stopping it. Technologies Nabtesco manufactures products which are used in everyday life. Our high-accuracy components are essential for moving objects; they may be rarely visible, but are the foundation of everyday objects that you see moving and wonder how. Nabtesco s technologies are found throughout objects that move and stop people s lives. Doors Robots Precision reduction gears precisely move and stop industrial robots. Nabtesco technology opens and closes automatic doors in buildings and platform doors at train stations. Construction machinery Running motors and control valves start and stop hydraulic excavators. Nabtesco technologies are at work in many areas of our daily lives. Wind turbines The drive units for wind turbine generators control the orientation of the wind turbine and the angle of the blades. Shinkansen bullet trains Brakes and doors ensure safety and comfort for the world-famous Shinkansen bullet trains. Tankers The engine remote control systems for vessels move and stop large vessels. Airplanes The flight control systems are crucial for the flight safety of aircraft.

3 CONTENTS Who is Nabtesco? The key word of Nabtesco is motion control. We use our strengths in the fields of component and systems technologies to develop highly creative products. Through the Nabtesco Group as a whole, we can also utilize our advantage of expertise to maximum effect in order to further enhance these strengths. In the air, on land and at sea, we have a leading share in various fields of both international and domestic markets. Nabtesco will continue to evolve by utilizing its strengths in many fields and by exploring the possibilities of the future. NABCO Ltd. Established 95 Teijin Seiki Co., Ltd. Established 944 Business Merger in Motion control What is the RD Series? RD Series Product Line Solutions from Nabtesco Main Applications Principle of Operation Product Code Selection Overview of Features (listed by input type) Straight Input Type Product Codes / Configuration Diagram Rating Table External Dimensions Right Angle Input Type Pulley Input Type Code Description / Configuration Diagram Rating Table External Dimensions Code Description / Configuration Diagram Rating Table External Dimensions Motor Flange / Bushing Selection Table of Motor Flange Code and Bushing Code External Dimensions Technical Information April Initiation of hydraulic equipment business alliance October Business merger The business alliance between Teijin Seiki and NABCO on hydraulic equipment projects was the beginning of a mutual confirmation by the companies of the other s product configuration, core technologies, corporate strategies and corporate culture. This led to a common recognition that a business merger would be an extremely effective means of increasing corporate value and achieving long-term development. Based on this mutual judgment, in an equity transfer was conducted to establish Nabtesco as a pure holding company, with both firms as wholly owned subsidiaries. After a year of preparation, both companies were absorbed and amalgamated by means of a short form merger, and Nabtesco was transitioned to an operating holding company Back inside cover Considering the use of RD Series Glossary Product Selection Product Selection Flowchart Model code selection examples Moment Diagram Technical Data No-load Running Torque Calculation of Tilt Angle and Torsion Angle Engineering Notes Appendix Inertia Moment Calculation Formula Troubleshooting checksheet Order Information Sheet Warranty

What is the RD Series? RD: The gear that will change everything A highly developed Precision Reduction Gear RV TM that offers high quality, high performance and ease of use.

Precision Reduction Gear RV has been praised for being compact and lightweight while offering high precision and rigidity.

4 What is the RD Series? RD: The gear that will change everything A highly developed Precision Reduction Gear RV TM that offers high quality, high performance and ease of use. Industrial robot Precision Reduction Gear RV TM Precision Reduction Gear RV enables the precision movements of industrial robots and also ensures their strength. Precision Reduction Gear RV has been praised for being compact and lightweight while offering high precision and rigidity. Since its debut in 985, Precision Reduction Gear RV has been selected for use by most major industrial robot manufacturers around the world. Market share Industrial robot (vertical articulated robot) joints 6% share of global market * Machine tool ATC drive units 8% share of Japanese market * */ Based on Nabtesco studies * Only for units with precision reduction gears

5 Precision Gearhead RD Series Nabtesco took Precision Reduction Gear RV, the most advanced in the industry, and created the RD Series. The RD Series is a pre-lubricated model with a sealed structure that can be easily mounted on all major motors. The RD Series, a new version with three input configurations, offers customers dramatically expanded freedom of design. Simple mounting Motor fastener components

RD Series Product Line RD Series: Designed

6 RD Series Product Line RD Series: Designed to meet a variety of customer needs Right angle input type Straight input type Solid series Pulley input type......benefits...advantages Allows compact equipment design Flexibility...User-friendly Many ratios available 4

7 Right angle input type Straight input type Hollow shaft series Pulley input type Reduces the number of components needed Pre-lubricated Our specialized, environmentally conscious lubricant VIGOGREASE RE Easy installation High reliability Easy mount Fluorine is used for all oil seals 5

8 Solutions from Nabtesco Nabtesco RD Series offer a variety of solutions Standard Epicyclic Gear Low contact ratio and low resistance to impacts RD Series Use of pin/gear mechanism results in high contact ratio and considerable impact resistance Interference or impact Emergency stop Typical gear is damaged by shock load High reliability for your machine Typical equipment Bearings and external support table are needed RD Series Integrated large-capacity External bearings and support table are not needed More components Higher assembly cost Higher design cost Reduced number of components Reduced cost of assembly Reduced cost of design 6

9 Typical equipment Reduction gear thickness + motor length + space for motor removal RD Series Only the thickness of the reduction gear itself Equipment needs increased space Right angle and pulley models can be used for a lower profile Typical equipment RD Series Allows routing of cables. Cable routing is difficult Hollow shaft series also available Improved layout Typical equipment RD Series Backlash: arc.min for straight input and pulley input type.5 arc.min for right angle input type (except some models) High backlash leads to poor repeatability Highly precise positioning is possible 7

10 Main Applications Examples of Uses for the RD Series (for reference) Positioner (tilting axis) Positioner (rotary axis) Glass Substrate/ Wafer Rotation and Positioning Palletizing Robots Ball Screw Drive AGV Drive 8

> Note: For the hollow shaft series, the rotation of the servomotor is transmitted from the input gear through the center gear to the spur gears.

Two RV gears are mounted around the needle bearings on the eccentric section of the crankshaft. (In order to balance the equal amount of force, two RV gears are mounted.) <Fig. > 4.

Pins are arrayed in a constant pitch in the grooves inside the case. The number of pins is just one larger than the number of RV gear teeth. <Fig. > 6.

As a result, RV gear tooth moves in the opposite direction of the crankshaft rotation. <Fig. > n Fig.. Crankshaft section Crankshaft Eccentric section Input gear *(Center gear) Spur gear Rotation 7.

11 Principle of Operation. Rotation of the servomotor is transmitted through the input gear to the spur gears, and the speed is reduced according to the gear ratio between the input gear and the spur gears. <Fig. > Note: For the hollow shaft series, the rotation of the servomotor is transmitted from the input gear through the center gear to the spur gears.. Since the crankshafts are directly connected to the spur gears, they have the same rotational speed as the spur gears. <Fig. > Fig.. First reduction section Spur gear Crankshaft. Two RV gears are mounted around the needle bearings on the eccentric section of the crankshaft. (In order to balance the equal amount of force, two RV gears are mounted.) <Fig. > 4. When the crankshafts rotate, the two RV gears mounted on the eccentric sections also revolve eccentrically around the input axis (crank movement). <Fig. > 5. Pins are arrayed in a constant pitch in the grooves inside the case. The number of pins is just one larger than the number of RV gear teeth. <Fig. > 6. As the crankshafts revolve one complete rotation, the RV gears revolve eccentrically one pitch of a pin (crank movement), with all the RV teeth in contact with all of the pins. As a result, RV gear tooth moves in the opposite direction of the crankshaft rotation. <Fig. > n Fig.. Crankshaft section Crankshaft Eccentric section Input gear *(Center gear) Spur gear Rotation 7. The rotation is then output to the shaft (output shaft) via the crankshaft so that the crankshaft rotation speed can be reduced in proportion to the number of pins. <Fig. > 8. The total reduction ratio is the product of the first reduction ratio multiplied by the second reduction ratio. Note: For the hollow shaft series, the rotation of the servomotor is transmitted from the input gear through the center gear to the spur gears. Fig.. Second reduction section Rotation Eccentric movement Needle bearing RV gear RV gear Pin Case Crankshaft (connected to the spur gear) Shaft Crankshaft Rotation angle Rotation angle 8 Rotation angle 6 9

Product Code Selection http://precision.nabtesco.com/. Verify reduction gear capacity (model code selection).

Step 4: Verify input unit specifications. Note: For flow charts and calculation methods, see pages 7 5 in Technical Information.

() In the reduction gear list, click on the desired type of reduction gear. () The product codes corresponding to that motor will be displayed.

12 Product Code Selection Verify reduction gear capacity (model code selection). Step : Establish items needed for selection. Step : Verify reduction gear load. Step : Select reduction gear. Step 4: Verify input unit specifications. Note: For flow charts and calculation methods, see pages 7 5 in Technical Information.. Select input unit and motor flange / bushing codes. () Click on the manufacturer, series and model for the servomotor that you are using. () In the reduction gear list, click on the desired type of reduction gear. () The product codes corresponding to that motor will be displayed.. Download CAD data. You may also download CAD data, either D CAD (STEP file) or D CAD (DXF file). Note: Free membership registration is required to download the CAD data. Note: Due to ongoing improvements, the website is subject to change without notice.

13 Overview of Features (listed by input type) Input type Straight input type Reduction gear configuration Solid series Hollow shaft series Product Product features The total length in the axial direction has been reduced by up to 5% as compared to the previous series. Corresponding speed ratio acceleration/ deceleration torque (Nm) Items not included to 58 7 to 7,84 Servomotor External dimensions P.6 P.7 P.8 P.9 Straight input type Right angle input type P.44 Right angle input type Pulley input type Solid series Hollow shaft series Solid series Hollow shaft series Equipment can be more compact Can be installed in confined space Table can be made shorter Belt input is possible Motor can be installed anywhere Speed ratio can be changed using pulley to 58 7 to 7,84 Servomotor Servomotor 57 to 57 4 to 7,84 pulley P.55 P.56 P.67 P.7 P.75 P.76 P.8 Pulley input type Motor flange / bushing Technical Information

14 Straight Input Type

15 Straight Input Type Product Codes / Configuration Diagram Product code RD S - 4 E B - CF - E Model Code Straight Input code Torque code Series code S 6, 4, 54, 79, 4, 57, 8, 5,, 6 4 4, 57, 8, 5,, 5 E: Solid series 8 4, 57, 8,,, , 8,,, 45, 7 66, 8,,, 4, 85 8, 8, 5, 89, 4 7, 4, 84, 5 9, 5, 96, 4 C: Hollow shaft series, 5,, 58 6, 56, 6, 45 5, 57, 7, 5 Configuration diagram Ratio Code Input unit code Motor flange code Bushing code B : Corresponding motor shaft diameter Ø8 to 4 B : Corresponding motor shaft diameter Ø4 to 4 B : Corresponding motor shaft diameter Ø8 to 4 B : Corresponding motor shaft diameter Ø4 to 4 B : Corresponding motor shaft diameter Ø4 to 4 B : Corresponding motor shaft diameter Ø5 to 5 B : Corresponding motor shaft diameter Ø4 to 4 B : Corresponding motor shaft diameter Ø5 to 5 B4 : Corresponding motor shaft diameter Ø9 to 8 B5 : Corresponding motor shaft diameter Ø to 4 -alphabetic B4 : Corresponding motor shaft diameter Ø9 to 8 character code B5 : Corresponding motor shaft diameter Ø to 4 ZZ: None B : Corresponding motor shaft diameter Ø8 to 4 (The code will differ B : Corresponding motor shaft diameter Ø4 to 4 depending on motor B : Corresponding motor shaft diameter Ø8 to 4 to be mounted.) B : Corresponding motor shaft diameter Ø4 to 4 B : Corresponding motor shaft diameter Ø4 to 4 B : Corresponding motor shaft diameter Ø5 to 5 B : Corresponding motor shaft diameter Ø4 to 4 B : Corresponding motor shaft diameter Ø5 to 5 B4 : Corresponding motor shaft diameter Ø9 to 8 B5 : Corresponding motor shaft diameter Ø to 4 B4 : Corresponding motor shaft diameter Ø9 to 8 B5 : Corresponding motor shaft diameter Ø to 4 Note: For selection of motor flange and bushing, see the selection tables on pages 8 85 or visit the Nabtesco website (URL : -letter code of a numeric and an alphabetic characters ZZ: None (The code will differ depending on motor to be mounted.) Straight input type Right angle input type Pulley input type Output shaft Solid series Straight input unit Coupling Bushing Servomotor Motor flange / bushing Hollow shaft series Low-speed tube Output shaft Coupling Motor flange Technical Information Straight input unit

16 Rating Table Straight Input Type Solid series Ratio code Model Code (Reduction ratio value) RDS-6E RDS-E RDS-4E RDS-8E RDS-6E RDS-E () 4 (4) 54 (5.5) 79 (79) () 4 (4) 57 (57) 8 (8) 5 (5) () 6 (6) 4 (4) 57 (57) 8 (8) 5 (5) () 5 (5) 4 (4) 57 (57) 8 (8) () () 5 (5) 66 (66) 8 (8) () () 45 (45) 7 (7) 66 (66) 8 (8) () () 4 (4) 85 (85) T Rated Torque N Rated Output Speed K Life Rating T S Startup/Stop Torque T S Momentary maximum allowable torque N in Input Speed (Note ) Reduction Gear N S Output Speed (Note ) N To Reference value to output speed during continuous operation at rated torque Backlash Lost motion Start-up Efficiency M moment (Note ) Wr radial load (Note 8) (Nm) (rpm) (h) (Nm) (Nm) (rpm) (rpm) (rpm) (arc.min.) (arc.min.) (%) (Nm) (N) 58 6, 7 94, , 4 8, ,,9,58, ,,96,9,, ,,9 7,84,,6 5 6, 7,84 5,68, , , ,666, ,56, ,9 6, ,56 8,587 External Dimensions Code : B P.6 Code : B P.7 Code : B P.8 Code : B P.9 Code : B P. Code : B P. Code : B P. Code : B P. Code : B4 P.4 Code : B5 P.5 Code : B4 P.6 Code : B5 P.7 4

17 Hollow shaft series Ratio code Model Code (Reduction ratio value) RDS-C RDS-7C RDS-5C RDS-C RDS-C RDS-C 8 (8) 8 (8) 5 (5) 89 (89) 4 (4) (99.8) 4 (4.68) 84 (84) (.45) 9 (9) 5 (5.6) 96 (96.) 4 (9.8) (.5) 5 (5) () 58 (58) 6 (5.8) 56 (55.96) 6 (6.9) 45 (45.8) 5 (5) 57 (57) 7 (7) 5 (5) T Rated Torque N Rated Output Speed K Life Rating T S Startup/Stop Torque T S Momentary maximum allowable torque N in Input Speed (Note ) Reduction Gear N S Output Speed (Note ) N To Reference value to output speed during continuous operation at rated torque Backlash Lost motion Start-up Efficiency M moment (Note ) Wr radial load (Note 8) (Nm) (rpm) (h) (Nm) (Nm) (rpm) (rpm) (rpm) (arc.min.) (arc.min.) (%) (Nm) (N) , 45 49, , 66,, ,,5,45, ,,45 4,9,,96 5 6, 4,9 9,8,,6 5 6, 7,84 5,68, ,755 External Dimensions Code : B P.8 Code : B P.9 Code : B P ,5 Code : B P. Code : B P... 7,764 9,48 Code : B P. Code : B P.4.. 8,45,8 Code : B P.5 Code : B4 P ,8,455 Code : B5 P.7 Code : B4 P.8.. 8,58 57,87 Code : B5 P.9 Notes:. The rating table shows the specification values including the entry fields for reduction gear values.. The allowable speed may be limited by heat depending on the operating rate. Make sure the surface temperature of the reduction gear does not exceed 6 C during use.. The allowable moment will differ depending on the thrust load. Check the allowable moment diagram (p.6). 4. For the moment of inertia of the reduction gears, refer to the external dimension drawings for the reduction gear. 5. For the moment rigidity and torsional rigidity, refer to the calculation of tilt angle and the torsion angle (p.). 6. The rated torque is the value that produces the rated service life based on operation at the rated output speed; it does not indicate the maximum load. Refer to the Glossary (p.6) and the Product selection flowchart (p.7). 7. The specifications above are based on Nabtesco evaluation methods; this product should only be used after confirming that it is appropriate for the operating conditions of your system. 8. When the radial load is applied within dimension b (see page ), use the reduction gear within the allowable radial load. Technical Information Motor flange / bushing Pulley input type Right angle input type Straight input type 5

18 4 Right Angle Input Type

19 Right Angle Input Type Code Description and Configuration Diagram Product code RD R - 8 E C - GD - ZZ Model Code Right angle input code Torque code Series code R 6, 4, 54, 79, 4, 57, 8, 5,, 6 4 4, 57, 8, 5,, 5 E: Solid series 8 4, 57, 8,,, , 8,,, 45, 7 66, 8,,, 4, 85 8, 8, 5, 89, 4 7, 4, 84, 5 9, 5, 96, 4 C: Hollow shaft series, 5,, 58 6, 56, 6, 45 5, 57, 7, 5 Configuration diagram Ratio Code Input unit code Motor flange code Bushing code C : Corresponding motor shaft diameter Ø8 to 4 C : Corresponding motor shaft diameter Ø4 to 4 C : Corresponding motor shaft diameter Ø8 to 4 C : Corresponding motor shaft diameter Ø4 to 4 C : Corresponding motor shaft diameter Ø4 to 4 C : Corresponding motor shaft diameter Ø5 to 5 C : Corresponding motor shaft diameter Ø4 to 4 C : Corresponding motor shaft diameter Ø5 to 5 C4 : Corresponding motor shaft diameter Ø9 to 8 C5 : Corresponding motor shaft diameter Ø to 4 C4 : Corresponding motor shaft diameter Ø9 to 8 C5 : Corresponding motor shaft diameter Ø to 4 C : Corresponding motor shaft diameter Ø8 to 4 C : Corresponding motor shaft diameter Ø4 to 4 C : Corresponding motor shaft diameter Ø8 to 4 C : Corresponding motor shaft diameter Ø4 to 4 C : Corresponding motor shaft diameter Ø4 to 4 C : Corresponding motor shaft diameter Ø5 to 5 C : Corresponding motor shaft diameter Ø4 to 4 C : Corresponding motor shaft diameter Ø5 to 5 C4 : Corresponding motor shaft diameter Ø9 to 8 C5 : Corresponding motor shaft diameter Ø to 4 C4 : Corresponding motor shaft diameter Ø9 to 8 C5 : Corresponding motor shaft diameter Ø to 4 Note: For selection of motor flange and bushing, see the selection tables on pages 8 85 or visit the Nabtesco website (URL : Output shaft Straight input unit Solid series Low-speed tube Output shaft Straight input unit Hollow shaft series -alphabetic character code (The code will differ depending on motor to be mounted.) -letter code of a numeric and an alphabetic characters ZZ: None (The code will differ depending on motor to be mounted.) Motor flange / bushing Pulley input type Right angle input type Straight input type Motor flange Bushing Servomotor Technical Information 4

20 Rating Table Right angle input type Solid series Model Code RDR-6E RDR-E RDR-4E RDR-8E RDR-6E RDR-E Ratio code (Reduction ratio value) () 4 (4) 54 (5.5) 79 (79) () 4 (4) 57 (57) 8 (8) 5 (5) () 6 (6) 4 (4) 57 (57) 8 (8) 5 (5) () 5 (5) 4 (4) 57 (57) 8 (8) () () 5 (5) 66 (66) 8 (8) () () 45 (45) 7 (7) 66 (66) 8 (8) () () 4 (4) 85 (85) T Rated Torque N Rated Output Speed K Life Rating T S Startup/Stop Torque T S Momentary maximum allowable torque N in Input Speed (Note ) Reduction Gear N S Output Speed (Note ) N To Reference value to output speed during continuous operation at rated torque Backlash Lost motion Start-up Efficiency M moment (Note ) Wr radial load (Note 8) (Nm) (rpm) (h) (Nm) (Nm) (rpm) (rpm) (rpm) (arc.min.) (arc.min.) (%) (Nm) (N) 58 6, 7 94, , 7 54, ,, 5 6, 4,9, ,,,,, ,9, ,96,9, ,,9 7,84,,8 4,5 9, ,9 5,57,48 5 9,755 6,89, ,, 7 6,6 7,84 5, , , ,666, ,56, ,9 6, ,56 8,587 External Dimensions Code : C P.44 Code : C P.45 Code : C P.46 Code : C P.47 Code : C P.48 Code : C P.49 Code : C P.5 Code : C P.5 Code : C4 P.5 Code : C5 P.5 Code : C4 P.54 Code : C5 P.55 4

21 Hollow shaft series Model Code RDR-C RDR-7C RDR-5C RDR-C RDR-C RDR-C Ratio code (Reduction ratio value) 8 (8) 8 (8) 5 (5) 89 (89) 4 (4) (99.8) 4 (4.68) 84 (84) (.45) 9 (9) 5 (5.6) 96 (96.) 4 (9.8) (.5) 5 (5) () 58 (58) 6 (5.8) 56 (55.96) 6 (6.9) 45 (45.8) 5 (5) 57 (57) 7 (7) 5 (5) T Rated Torque N Rated Output Speed K Life Rating T S Startup/Stop Torque T S Momentary maximum allowable torque N in Input Speed (Note ) Reduction Gear N S Output Speed (Note ) N To Reference value to output speed during continuous operation at rated torque Backlash Lost motion Start-up Efficiency M moment (Note ) Wr radial load (Note 8) (Nm) (rpm) (h) (Nm) (Nm) (rpm) (rpm) (rpm) (arc.min.) (arc.min.) (%) (Nm) (N) , 45 49, , 66,, ,,5,45, ,,45 4,9,,96 5 6, 4,9 9,8,,6 5 6, 7,84 5,68, ,755 External Dimensions Code : C P.56 Code : C P.57 Code : C P ,5 Code : C P.59 Code : C P ,764 9,48 Code : C P.6 Code : C P ,45,8 Code : C P.6 Code : C4 P ,8,455 Code : C5 P.65 Code : C4 P ,58 57,87 Code : C5 P.67 Notes:. The rating table shows the specification values including the entry fields for reduction gear values.. The allowable speed may be limited by heat depending on the operating rate. Make sure the surface temperature of the reduction gear does not exceed 6 C during use.. The allowable moment will differ depending on the thrust load. Check the allowable moment diagram (p.6). 4. For the moment of inertia of the reduction gears, refer to the external dimension drawings for the reduction gear. 5. For the moment rigidity and torsional rigidity, refer to the calculation of tilt angle and the torsion angle (p.). 6. The rated torque is the value that produces the rated service life based on operation at the rated output speed; it does not indicate the maximum load. Refer to the Glossary (p.6) and the Product selection flowchart (p.7). 7. The specifications above are based on Nabtesco evaluation methods; this product should only be used after confirming that it is appropriate for the operating conditions of your system. 8. When the radial load is applied within dimension b (see page ), use the reduction gear within the allowable radial load. Technical Information Motor flange / bushing Pulley input type Right angle input type Straight input type 4

22 68 Pulley input type

23 Pulley Input Type Code Description and Configuration Diagram Product code RD P - 5 C- 9 - A - ZZ - ZZ Model Code Ratio Code Input unit code Motor flange code Bushing code Pulley input code Torque code Series code 8 A 4 57 A 8 E: Solid series 8 A4 Straight input type 6 66 A6 P 8 A7 8 A 7 A 5 C: Hollow shaft 9 A series A5 6 A8 57 A9 The input unit code for the pulley input type is one code for each model number. ZZ: No motor flange (The pulley input type does not come with a motor flange.) ZZ: No bushing (The pulley input type does not come with a bushing.) Right angle input type Configuration diagram Pulley input type Solid series Output shaft Pulley input unit Input shaft Motor flange / bushing Hollow shaft series Servomotor Low-speed tube Output shaft Input shaft Technical Information Pulley input unit 69

24 Rating Table Pulley input type Solid series Reduction Gear Input shaft Model Code RDP-E RDP-4E RDP-8E RDP-6E RDP-E Ratio code (Reduction ratio value) 8 (8) 57 (57) 8 (8) 66 (66) 8 (8) T Rated Torque N Rated Output Speed K Life Rating T S Startup/Stop Torque T S Momentary maximum allowable torque N in Input Speed (Note ) N S Output Speed (Note ) N To Reference value to output Backlash speed during continuous operation at rated torque Lost motion Start-up Efficiency M O moment (Note ) Wr radial load (Note 8) M Oin Rated moment M Sin moment β dimensions External Dimensions (Nm) (rpm) (h) (Nm) (Nm) (rpm) (rpm) (rpm) (arc.min.) (arc.min.) (%) (Nm) (N) (Nm) (Nm) (mm) , , Code : A P.7 4,9, ,666,594 Code : A, P ,,96, ,56,988 Code : A4 P.7,568,9 7,84 5 8,9 6, Code : A6, P.74,6 7,84 5, ,56 8, Code : A7 P.75 Hollow shaft series Reduction Gear Input shaft Model Code RDP-C RDP-7C RDP-5C RDP-C RDP-C RDP-C Ratio code (Reduction ratio value) 8 (8) (99.8) 9 (9) (.5) 6 (5.8) 57 (57) T Rated Torque N Rated Output Speed K Life Rating T S Startup/Stop Torque T S Momentary maximum allowable torque N in Input Speed (Note ) N S Output Speed (Note ) N To Reference value to output Backlash speed during continuous operation at rated torque Lost motion Start-up Efficiency M O moment (Note ) Wr radial load (Note 8) M Oin Rated moment M Sin moment β dimensions External Dimensions (Nm) (rpm) (h) (Nm) (Nm) (rpm) (rpm) (rpm) (arc.min.) (arc.min.) (%) (Nm) (N) (Nm) (Nm) (mm) ,755 8 Code : A, P , ,5 4 Code : A P.77 49,5,45 8 8,764 9,48 9 Code : A 5 6,, P.78 98,45 4,9 8 8,45,8 4 Code : A5 P.79,96 4,9 9, ,8,455 Code : A8, P.8,6 7,84 5,68 85,58 57,87 5 Code : A9 P.8 Notes:. The rating table shows the specification values including the entry fields for reduction gear values.. The allowable speed may be limited by heat depending on the operating rate. Make sure the surface temperature of the reduction gear does not exceed 6 C during use.. The allowable moment will differ depending on the thrust load. Check the allowable moment diagram (p.6). 4. For the moment of inertia of the reduction gears, refer to the external dimension drawings for the reduction gear. 5. For the moment rigidity and torsional rigidity, refer to the calculation of tilt angle and the torsion angle (p.). 6. The rated torque is the value that produces the rated service life based on operation at the rated output speed; it does not indicate the maximum load. Refer to the Glossary (p.6) and the Product selection flowchart (p.7). 7. The specifications above are based on Nabtesco evaluation methods; this product should only be used after confirming that it is appropriate for the operating conditions of your system. 8. When the radial load is applied within dimension b (see page ), use the reduction gear within the allowable radial load. 7

25 8 Motor Flange / Bushing

26 Selection Table of Motor Flange Code and Bushing Code- Select the motor flange code and bushing code based on the dimension of the motor to be used. Applicable model code: RD -6E, E, C, 7C Supported motor shaft diameter: Ø8 to Ø4 Model Code Input unit code Motor flange code Motor shaft length (mm) a Motor mounting pilot diameter (mm) Øb Motor flange Bushing Motor mounting pilot tolerance Motor mounting pilot length (mm) c (* ) Bolt P.C.D. d Bolt size e Stepped part max length (mm) g Bushing code Motor shaft diameter(mm) Øf Min. Max. Reduction gear (straight input type) AA h7 46 M4.5 A 8 h6 RDS-6E AB 5 h7 5 6 M4 4 B 9 h6 RDS-E B AC 5 h7 5 7 M4 4 C h6 RDS-C AD 5 h7 5 7 M5 4 D h6 RDS-7C AE 4 7 h7 6 9 M5 5 E 9 k6 Reduction gear (right angle input type) AF 7 h7 6 9 M6 4 F k6 RDR-6E AG 8 8 h7 6 M6 ZZ 4 h6 RDR-E AH 8 h7 6 M6 4 C RDR-C AJ 8 95 h7 6 5 M8 RDR-7C AK h M8 6 AL 4 8 h7 6 M6 AM 5 h7 46 M4 5.5 AN h7 6 9 M6 7 AP 5 5 h7 5 6 M4 6 AQ 6 h M5 AR 4 h7 6 M5.5 Supported motor shaft diameter: Ø4 to Ø4 Model Code Input unit code * The motor mounting pilot length indicates the maximum value of the capable range. Motor flange code Motor shaft length (mm) a Motor mounting pilot diameter (mm) Øb Motor flange Bushing Motor mounting pilot tolerance Motor mounting pilot length (mm) c (*) Bolt P.C.D. d Bolt size e Stepped part max length (mm) g Bushing code Motor shaft diameter(mm) Øf Min. Max. Reduction gear (straight input type) CA h7 6 7 M5 6.5 B 5 h6 RDS-6E CB h M5 6.5 C 6 h6 RDS-E CC h M6 6.5 D 7 h6 B RDS-C CD 57 8 h7 6 M6 8.5 E 9 h6 RDS-7C CE h7 6 5 M6 8.5 F h6 Reduction gear (right angle input type) CF h7 6 5 M8 8.5 G 4 k6 RDR-6E CG 59 h7 7 5 M8.5 H 9 k6 RDR-E CH 59 h M8.5 J 6 k6 C RDR-C CJ h M8 5.5 ZZ 4 h6 RDR-7C CK h7 5 M.5 6A * CL 59 5 h M8.5 6B * 4 +./ Taper/ CM 59 h M.5 6C *4 6 CN 59 h7 5 5 M.5 CP h7 6 M6 5.5 CQ h7 6 5 M8.5 CR 4 67 h M8 8.5 CT 59 h7 7 M8.5 CU h7 75 M5 6.5 * The motor mounting pilot length indicates the maximum value of the capable range. * Select a motor flange based on a motor shaft length of 44 mm. * Select a motor flange based on a motor shaft length of 7 mm. *4 Select a motor flange based on a motor shaft length of 58 mm. c a Motor shaft tolerance g d Øf Øb Bolt size e a g Øb Øf Motor shaft tolerance Technical Information Motor flange / bushing Pulley input type Right angle input type Straight input type 8

27 Selection Table of Motor Flange Code and Bushing Code- Select the motor flange code and bushing code based on the dimension of the motor to be used.applicable model code: RD -4E,8E,5C,C Supported motor shaft diameter: Ø4 to Ø4 Model Code Input unit code Motor flange code Motor shaft length (mm) a Motor mounting pilot diameter (mm) Øb Motor flange Bushing Motor mounting pilot tolerance Motor mounting pilot length (mm) c (*) Bolt P.C.D. d Bolt size e Stepped part max length (mm) g Bushing code Motor shaft diameter(mm) Øf Min. Max. Reduction gear (straight input type) CA h7 6 7 M5 5 A 4 h6 RDS-4E CB h M5 5 B 5 h6 RDS-8E CC h M6 5 C 6 h6 B RDS-5C CD h7 6 M6 7 D 7 h6 RDS-C CE h7 6 5 M6 7 E 9 h6 Reduction gear (right angle input type) CF h7 6 5 M8 7 F h6 RDR-4E CG 8 59 h7 7 5 M8 9 G 4 k6 RDR-8E CH 8 59 h M8 9 H 9 k6 C RDR-5C CJ 5 74 h M8 4 J 6 k6 RDR-C CK h7 5 M 9 ZZ 4 h6 CL h M8 9 6A * CM 8 59 h M 9 6B * 4 +./ Taper/ CN 8 59 h7 5 5 M 9 6C *4 6 CP h7 6 M6 4 CQ h7 6 5 M8 CR h M8 7 CT 8 59 h7 7 M8 9 * The motor mounting pilot length indicates the maximum value of the capable range. * Select a motor flange based on a motor shaft length of 44 mm. * Select a motor flange based on a motor shaft length of 7 mm. *4 Select a motor flange based on a motor shaft length of 58 mm. Motor shaft tolerance Supported motor shaft diameter: Ø5 to Ø5 Model Code Input unit code Motor flange code Motor shaft length (mm) a Motor mounting pilot diameter (mm) Øb Motor flange Bushing Motor mounting pilot tolerance Motor mounting pilot length (mm) c (* ) Bolt P.C.D. d Bolt size e Stepped part max length (mm) g Bushing code Motor shaft diameter(mm) Øf Min. Max. Reduction gear (straight input type) GA h7 8 5 M8 7 A 5 h6 RDS-4E GB 8 8 h7 7 5 M8 9 B 8 h6 RDS-8E GC 8 8 h M8 9 C 8 k6 B Motor shaft tolerance RDS-5C GD h7 5 M 9 D k6 RDS-C GE 8 8 h M 9 E h6 Reduction gear (right angle input type) GF 8 8 h7 6 5 M 9 ZZ 5 (+./) RDR-4E GG 48 9 h M8 9 RDR-8E GH h7 5 M 9 C RDR-5C GJ 4 88 h M8 4 RDR-C GK 8 8 h7 7 M8 9 * The motor mounting pilot length indicates the maximum value of the capable range. c a g d Øf Øb Bolt size e a g Øb Øf 84

28 Selection Table of Motor Flange Code and Bushing Code- Select the motor flange code and bushing code based on the dimension of the motor to be used. Applicable model code: RD -6E,E,C,C Supported motor shaft diameter: Ø9 to Ø8 Model Code Input unit code Motor flange code Motor shaft length (mm) a Motor mounting pilot diameter (mm) Øb Motor flange Bushing Motor mounting pilot tolerance Motor mounting pilot length (mm) c (*) Bolt P.C.D. d Bolt size e Stepped part max length (mm) g Bushing code Motor shaft diameter(mm) Øf Min. Max. Reduction gear (straight input type) GA h7 8 5 M8 7 A 9 h6 RDS-6E GB 8 7 h7 7 5 M8 9 B h6 RDS-E GC 8 7 h M8 9 C 4 h6 B4 RDS-C GD h7 5 M 9 D 9 k6 RDS-C GE 8 7 h M 9 E 4 k6 Reduction gear (right angle input type) GF 8 7 h7 6 5 M 9 ZZ 8 h6 RDR-6E GG 48 8 h M8 9 +./ 7A * 6 RDR-E GH h7 5 M 9 Taper/ C4 RDR-C GJ 4 78 h M8 4 RDR-C * The motor mounting pilot length indicates the maximum value of the capable range. * Select a motor flange based on a motor shaft length of 58 mm. Motor shaft tolerance Supported motor shaft diameter: Ø to Ø4 Model Code Input unit code Motor flange code Motor shaft length (mm) a Motor mounting pilot diameter (mm) Øb Motor flange Bushing Motor mounting pilot tolerance Motor mounting pilot length (mm) c (*) Bolt P.C.D. d Bolt size e Stepped part max length (mm) g Bushing code Motor shaft diameter(mm) Øf Min. Max. Reduction gear (straight input type) JA h M8 7 4A h6 RDS-6E B5 Motor shaft tolerance JB h7 5 M 5 4B 5 (+./) RDS-E JC h7 5 M 6 4C 8 k6 RDS-C JD h7 5 5 M 8 4D k6 RDS-C JE h7 5 5 M 5 4E 8 h6 Reduction gear (right angle input type) JF 87 7 h7 5 5 M 8 4F 5 h6 RDR-6E JG h7 5 M ZZ 4 h6 RDR-E JH h7 65 M 5 C5 9A * RDR-C * The motor mounting pilot length indicates the maximum value of the capable range. RDR-C * Select a motor flange based on a motor shaft length of mm. a g +./ Taper/ d Øf Øb Bolt size e c a g Øb Øf Technical Information Motor flange / bushing Pulley input type Right angle input type Straight input type 85

30 Technical Information Motor flange / bushing Pulley input type Right angle input type Straight input type

31 4 Technical Information

32 Considering the use of RD Series This product features high precision and high rigidity, however, it is necessary to strictly comply with various restrictions and make considerations to maximize the product s features. Please read this technical document thoroughly and select and adopt an appropriate model based on the actual operating environment, method, and conditions at your facility. Export When this product is exported from Japan, it may be subject to the export regulations provided in the Foreign Exchange Order and Export Trade Control Order. Be sure to take sufficient precautions and perform the required export procedures in advance if the final operating party is related to the military or the product is to be used in the manufacture of weapons, etc. Application If failure or malfunction of the product may directly endanger human life or if it is used in units which may injure the human body (atomic facilities, space equipment, medical equipment, safety units, etc.), examination of individual situations is required. Contact our agent or nearest business office in such a case. Safety measures Although this product has been manufactured under strict quality control, a mistake in operation or misuse can result in breakdown or damage, or an accident resulting in injury or death. Be sure to take all appropriate safety measures, such as the installation of independent safeguards. Product specifications indicated in this catalog The specifications indicated in this catalog are based on Nabtesco evaluation methods. This product should only be used after confirming that it is appropriate for the operating conditions of your system. Operating environment Straight input type Right angle input type Use the reduction gear under the following environment: Location where the ambient temperature is between - C and 4 C. Location where the humidity is less than 85% and no condensation occurs. Location where the altitude is less than m. Well-ventilated location Do not install the reduction gear at the following locations. Locations where a lot of dust is collected. Outdoor areas that are directly affected by wind and rain Locations near to areas that contains combustible, explosive, or corrosive gases and flammable materials. Location that is heated due to heat transfer and radiation from peripherals and direct sun. Location where the performance of the servomotor can be affected by magnetic fields or vibration. Pulley input type Note : Note : Maintenance The standard replacement time for Iubricant is, hours. However, when operation involves a reduction gear surface temperature above 4 C, the state of degradation of the lubricant should be checked in advance of that and the grease replaced earlier as necessary. Reduction gear temperature When the reduction gear is used under high load and at a high duty ratio, it may overheat and the surface temperature may exceed the allowable temperature. Be aware of conditions so that the surface temperature of the reduction gear does not exceed 6 C while it is in operation. There is a possibility of damage (to the product) if the surface temperature exceeds 6 C. Reduction gear output rotation angle When the range of the rotation angle is small ( degrees or less), the service life of the reduction gear may be reduced due to poor lubrication or the internal parts being subject to a concentrated load. Note: Contact us in case the rotation angle is degrees or less. Manuals If the required installation environment cannot be established, contact our customer representative in advance. When using the reduction gear under special conditions (clean room, equipment for food, concentrated alkali, high-pressure steam, etc.), contact our customer representative in advance. Safety information and detail product instructions are indicated in the operation manual. The operation manual can be downloaded from the following website. Motor flange / bushing Technical Information 5

33 Glossary Life rating The lifetime resulting from the operation with the rated torque and the rated output speed is referred to as the life rating. acceleration/deceleration torque When the machine starts or stops, the load torque to be applied to the reduction gear is larger than the constant-speed load torque due to the effect of the inertia torque of the rotating part. In such a situation, the allowable torque during acceleration/deceleration is referred to as allowable acceleration/deceleration torque. Note: Be careful that the load torque, which is applied at startup and stop, does not exceed the allowable acceleration/deceleration torque. Momentary maximum allowable torque A large torque may be applied to the reduction gear due to execution of emergency stop or by an external shock. In such a situation, the allowable value of the momentary applied torque is referred to as momentary maximum allowable torque. Note: Be careful that the momentary excessive torque does not exceed the momentary maximum allowable torque. Load torque Momentary max torque Max torque for startup Constant torque Max torque for stop input speed The allowable value of the input speed is referred to as allowable input speed. Note: The reduction gear temperature may increase significantly even when the speed is under the allowable speed depending on the speed ratio. In such a case, use the reduction gear at the speed so that the gear temperature is 6 C or lower. output speed The allowable value of the output speed is referred to as allowable output speed. Time Note: The reduction gear temperature may exceed 6 C even when the speed is under the allowable output speed depending on the specification conditions (duty, ambient temperature). In such a case, use the reduction gear at the speed so that the gear temperature is 6 C or lower. Torsional rigidity, lost motion, backlash When a torque is applied to the output shaft while the input shaft is fixed, torsion is generated according to the torque value. The torsion can be shown in the hysteresis curves. The value of b/a is referred to as torsional rigidity. The torsion angle at the mid point of the hysteresis curve width within ±% of the rated torque is referred to as lost motion. The torsion angle when the torque indicated by the hysteresis curve is equal to zero is referred to as backlash. Hysteresis curve Backlash Torsion angle ±% Rated Torque ±% Rated Torque Lost motion Startup efficiency The efficiency of the moment when the reduction gear starts up is referred to as startup efficiency. No-load running torque (input shaft) The torque for the input shaft that is required to run the reduction gear without load is referred to as no-load running torque. moment and maximum thrust load The external load moment may be applied to the reduction gear during normal operation. The allowable values of the external moment and the external axial load at this time are each referred to as allowable moment and maximum thrust load. Input shaft rated moment This is the moment load that satisfies the life rating. The moment to be applied normally must be less than the rated moment. Input shaft allowable moment This is the allowable value of the load that can be applied for startup and stop. b a output speed reference value This is a reference value of the output speed at which the temperature increase of the reduction gear is 4 C or lower when the rated torque is applied to the reduction gear and the gear is operated continuously in one direction. Note: Maintain the environment and operation conditions so that the temperature of the reduction gear is 6ºC or lower. 6

34 Product Selection Product Selection Flowchart Step. Set items required for selection. (P.8, 9) Setting of equipment to be verified Reduction gear mounting direction With horizontal rotational transfer (page 8) With vertical rotational transfer (page 9) NO Review load conditions. Re-evaluate operation pattern. YES Step. Verify the operating environment. (P.8, 9) Setting of operation conditions Weight of the equipment to be verified Cycle time Configuration of the equipment to be verified Operating hours per day Rotation angle Operating days per year Rotation time Checking of operating environment Ambient temperature Reduction gear surface temperature Humidity Locations where the product Altitude cannot be installed Ventilation (Refer to page 5.) Straight input type Compatible NO YES Step. Verify the reduction gear load. (P.8 to ) Step 4. Select a reduction gear. (P. to 4).Calculation of inertia moment.calculation of constant torque.setting of model code and series code 4.Setting of operation pattern 5.Calculation of inertia torque 6.Calculation of load torque 7.Calculation of average speed and average load torque Right angle input type Calculate the rated torque that satisfies the required life and select a reduction gear. Reduction gear selection method() YES YES NO Select a reduction gear based on the calculated rated torque. Verify the maximum torque for startup. T,T TS Verify the shock torque due to an emergency stop. Pem Cem NO NO Reduction gear selection method() Tentatively select a reduction gear model. Verify the maximum torque for startup. T,T TS YES Verify the shock torque due to an emergency stop. Pem Cem YES NO NO Pulley input type YES Verify the output YES speed. Nm Ns YES Verify the thrust load W thrust. YES Examine the moment load. M MO YES NO NO NO Reconsider the appropriate model number. YES NO Verify the output speed. Nm Ns YES Verify the thrust load W thrust. YES Examine the moment load. M MO YES Verify the service life. Lex L YES NO NO NO NO Reconsider the appropriate model number. YES NO Motor flange / bushing Determine the reduction gear model. Step 5. Verify the input unit specifications (P. to 6) The input type is right angle or straight. YES Selection complete Reduction gear selection complete NO Verify the input shaft moment MOin M MSin M YES Selection complete NO Reconsider the appropriate model number. YES Re-evaluate the operation pattern NO A limitation is imposed on the motor torque value according to the momentary maximum allowable torque of the selected reduction gear. (Refer to page 5) When the reduction gear selection is completed, select a motor flange and bushing. (Refer to pages 8 to 85.) Technical Information 7

35 Product Selection Model code selection examples (With vertical shaft installed) With horizontal rotational transfer Step. Set the items required for selection. Setting item Setting Presence of hollow in the output surface of the reduction gear Hollow (C type) Reduction gear mounting direction Vertical shaft installation Load torque (Nm) Equipment weight to be examined W A Disk weight (kg) 45 W B Work weight (kg) x 4 pieces Equipment configuration to be examined Speed (rpm) D Disk: D dimension (mm), a Work piece: a dimension (mm) b Work piece: b dimension (mm) 4 a Time (s) D D Work piece: P.C.D. (mm) 8 b Operation conditions θ Rotation angle ( )* 8 [t +t +t ] Rotation time (sec).5 [t 4 ] Cycle time (sec) Q Equipment operation hours per day (hours/day) Q Equipment operation days per year (days/year) 65 Fixing component Reduction gear Hollow diameter D Vertical shaft installation Equipment to be verified: Work Equipment to be verified: Disk Motor flange Servomotor Right angle input unit *. When the range of the rotation angle is small ( degrees or less), the rating life of the reduction gear may be reduced due to poor lubrication or the internal parts being subject to a concentrated load. Step. Verify the operating environment. Checkpoint Standard value S Ambient temperature ( C) - to +4 S( C) S Reduction gear surface temperature ( C) 6 or less - Note: Refer to Operating environment on p. 5 for values other than those listed above. - 4 Step -. Examine the reduction gear load S ( C) Setting item Calculation formula Selection examples () Calculate the inertia moment based the calculation formula on page 5. I R Load inertia moment (kgm ) () Examine the constant torque. T R Constant torque (Nm) Step -: Proceed to p.. WA I R = WB I R = D, a b D + + WB n,,, I R = Disk inertia moment I R = Work inertia I R = I R + I R n = Number of workpieces Din TR = ( WA + WB ) 9.8, μ μ = Friction factor Note: Use.5 for this example as the load is applied to the bearing of the RD reduction gear. Din = Rolling diameter: Use the pilot diameter which is almost equivalent to the rolling diameter in this selection calculation. * If the reduction gear model is not determined, select the following pilot diameter: Solid series = 84( mm) - Maximum pilot diameter Hollow shaft series = 44( mm) - Maximum pilot diameter, 45, I R = = 8 (kgm ) I R = = 7.7(kgm ), I R = = 5.7 (kgm ) + 4, + 8, ( ) 44 T R = , = 7.5 (Nm) 4

36 Product Selection Model code selection examples (With horizontal shaft installed) With vertical rotational transfer Step. Set the items required for selection. Setting item Setting Presence of hollow in the output surface of the reduction gear Without hollow (Solid series) Reduction gear mounting direction Horizontal shaft installation Equipment weight to be examined W C Mounted work weight (kg) 49 Equipment configuration to be examined a a dimension (mm) 5 Reduction gear Motor flange Servo motor Straight input unit Fixing component Equipment to be examined Horizontal shaft installation C a Rotation center Straight input type b b dimension (mm) 5 c C dimension (mm) b Operation conditions θ Rotation angle ( )* 9 [t +t +t ] Rotation time (sec).5 [t 4 ] Cycle time (sec) Q Equipment operation hours per day (hours/day) 4 Q Equipment operation days per year (days/year) 65 *. When the range of the rotation angle is small ( degrees or less), the rating life of the reduction gear may be reduced due to poor lubrication or the internal parts being subject to a concentrated load. Step. Verify the operating environment. Checkpoint Standard value S Ambient temperature ( C) - to +4 S Reduction gear surface temperature ( C) 6 or less Note: Refer to Operating environment on p. 5 for values other than those listed above. - 4 Step -. Examine the reduction gear load S( C) Setting item Calculation formula Selection examples () Calculate the inertia moment based the calculation formula on page 5. I R Load inertia moment (kgm ) () Examine the constant torque. T R WC I R = Constant torque C TR = WC 9.8 (Nm), a b C + + WC,,, 49 5 I R = +, = 7.6 (kgm ) T R = =,57 (Nm) Position of the center of gravity, 5, + 49 Step -: Proceed to p.. (Refer to With horizontal rotational transfer for selection examples.) Load torque (Nm) Rotation speed (rpm) S( C) Time (s), Technical Information Motor flange / bushing Pulley input type Right angle input type 9

37 Product Selection Model code selection examples Step -. Set items required for selection Setting item Calculation formula Selection examples (With horizontal rotational transfer) () Set the model code and series code. Setting of model code (input type) RDS Straight input type Set the model code (input type) and series code RDR Right angle input type (presence of the hollow section on the reduction gear output surface) according to the usage and application. RDP Pulley input type As an example, the RDR (right angle input type) and hollow shaft series are set. Setting of series code Solid series or hallow shaft series (4) Set the acceleration/deceleration time, constant-speed operation time, and output speed. t Acceleration time (sec) Constant-speed operation t time (sec) t Deceleration time (sec) N Constant speed (rpm) The operation pattern does not need to be verified if it is already set. If the operation pattern has not been determined, use the following formula to calculate the reference operation pattern. θ t = t = Rotation time [ t + t + t ] N 6 6 t = Rotation time [ t + t + t ] ( t + t ) Note:. Assume that t and t are the same. Note:. N = 5 rpm if the reduction gear output speed (N) is not known. Note:. If t and t is less than, increase the output speed or extend the rotation time. Average speed for startup N 5 N N (rpm) = N = = 7. 5( rpm) Examine the operation pattern using N = 5 rpm as the reduction gear output speed is unknown. 8 t = t =.5 =.5 ( sec) t =.5 (.5 +.5) =.5 ( sec) t = t =.5 ( sec) t =.5 ( sec) N = 5 ( rpm) N Average speed for stop (rpm) N 5 N = N = = 7. 5( rpm) (5) Calculate the inertia torque for acceleration/deceleration. Inertia torque for acceleration T A (Nm) TA = IR ( N ) π t 6 T A = 5.7 ( 5 ).5 = (Nm) π 6 Inertia torque for deceleration T D (Nm) TD = IR ( N ) π t 6 T D = 5.7 ( 5 ) π.5 6 = (Nm) (6) Calculate the load torque for acceleration/deceleration. Maximum torque for startup T (Nm) Constant maximum torque T (Nm) T = TA + TR TR : Constant torque With horizontal rotational transfer (page 8) With vertical rotational transfer (page 9) T = = 54. (Nm) T = T R T = 7. 5(Nm) Maximum torque for stop T (Nm) (7) - Calculate the average speed. T = TD + TR T R : Constant torque With horizontal rotational transfer (page 8) With vertical rotational transfer (page 9) T = = 449.(Nm) N m Average speed (rpm) (7) - Calculate the average load torque. T m Average load torque (Nm) t N+ t N + t N N m = t + t + t t N T + t N T + t N T T m = t N+ t N+ t N N m = = ( rpm) T + + m = = 5.7(Nm) Go to Page if the reduction gear model is verified based on the required life. Go to Page if the service life is verified based on the reduction gear model.

Precision Reduction Gear RV TM. N Series

Precision Reduction Gear RV TM N Series Nabtesco's technologies o es supporting port society Contributing to society with our Moving it. Stopping it. technologies Nabtesco manufactures products which are